CASIA OpenIR  > 09年以前成果
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
Song, ZS; Yi, JQ; Zhao, DB; Li, XC
Source PublicationFUZZY SETS AND SYSTEMS
2005-09-01
Volume154Issue:2Pages:208-226
SubtypeArticle
AbstractComputed Torque Control (CTC) is an effective motion control strategy for robotic manipulator systems, which can ensure globally asymptotic stability. However, CTC scheme requires precise dynamical models of robotic manipulators. To handle this impossibility, in this paper, a new approach combing CTC and Fuzzy Control (FC) is developed for trajectory tracking problems of robotic manipulators with structured uncertainty and/or unstructured uncertainty. Fuzzy part with a set of tunable parameters is employed to approximate lumped uncertainty due to parameters variations, unmodeled dynamics and so on in robotic manipulators. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory tracking performances. The proposed approach indicates that CTC method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed. Finally, computer simulation results on a two-link elbow planar robotic manipulator are presented to show tracking capability and effectiveness of the proposed scheme. (c) 2005 Elsevier B.V All rights reserved.
KeywordRobotic Manipulators Computed Torque Control Fuzzy Control Fuzzy Basis Function
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS KeywordSLIDING MODE CONTROL ; APPROXIMATION ; FEEDBACK ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Mathematics
WOS SubjectComputer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability
WOS IDWOS:000230364200003
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9122
Collection09年以前成果
AffiliationChinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Song, ZS,Yi, JQ,Zhao, DB,et al. A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach[J]. FUZZY SETS AND SYSTEMS,2005,154(2):208-226.
APA Song, ZS,Yi, JQ,Zhao, DB,&Li, XC.(2005).A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach.FUZZY SETS AND SYSTEMS,154(2),208-226.
MLA Song, ZS,et al."A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach".FUZZY SETS AND SYSTEMS 154.2(2005):208-226.
Files in This Item: Download All
File Name/Size DocType Version Access License
2005 FSS - A compute(451KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Song, ZS]'s Articles
[Yi, JQ]'s Articles
[Zhao, DB]'s Articles
Baidu academic
Similar articles in Baidu academic
[Song, ZS]'s Articles
[Yi, JQ]'s Articles
[Zhao, DB]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Song, ZS]'s Articles
[Yi, JQ]'s Articles
[Zhao, DB]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 2005 FSS - A computed torque controller for uncertain robotic manipulator systems - Fuzzy approach.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.